Pose Estimation of Free-form Objects
 @TechReport{rosenhahnTR0401,
   author = {B. Rosenhahn and G. Sommer and R. Klette},
   title = {Pose Estimation of Free-form Objects},
   institution = {Christian-Albrechts-Universit{\"a}t zu Kiel, 
       Institut f{\"u}r Informatik und Praktische Mathematik},
   type = {Technical Report},
   number = {Number 0401},
   month =      {March},
   year = 2004,
}